Vehicle crew training system for ground and air vehicles

ABSTRACT

A computer based simulation system for virtual training for vehicle crews is disclosed. The Vehicle Crew Training System (VCTS) simulates crew positions for different military ground and air vehicles. Two or more crewman modules are networked together to support a partial or full vehicle crew. The crewman modules are self-contained devices that are modular in hardware and software design, easily reconfigurable, and require minimal facility space, allowing use in restricted environments such as trailers. The VCTS is modular at the crew position level; crewman modules are added or deleted as required to meet a particular training need.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention pertains to training simulators.

2. Background Art

System Design

Historically, most virtual crew training has been accomplished withappended trainers or with crew station trainers. An appended trainerconsists of equipment added to an actual (parked) combat vehicle suchthat the vehicle is used to train a full or partial crew in a virtualenvironment. Examples are Raydon's Abrams Appended Trainer (A-FIST XXI)and the Bradley Appended Trainer (AB-FIST). A crew station trainerincludes a replica of a crew compartment of an actual vehicle. Examplesare Raydon's M-COFT XXI and SIMNET XXI trainers for the Abrams Tank andthe Bradley Fighting Vehicle. The appended and crew station trainerstypically provide higher fidelity and very little modularity. Here,fidelity refers to the physical and functional realism of theman-machine interface; specifically, the realism of the vehicle and/orweapon controls in terms of numbers of controls and control realism; therealism of visual imagery in terms of field of view, resolution, andscene content; and the realism of the physical crew position in terms ofthe human support structure. Further, these trainers tend to bepurpose-built for either individual/crew training or for collectivetraining, but not both.

More recently, desktop training systems have emerged that are capable oftraining individuals and crews of military combat vehicles with lessfidelity but at a much lower cost than the appended and crew stationtrainers. However, these desktop systems are not modular, and like thehigher fidelity appended and crew station trainers, tend to bepurpose-built for either individual/crew training or for collectivetraining, but not both.

Hence there is a need for a vehicle crew training system that issufficiently flexible to allow both individual/crew training andcollective training, is modular, and can provide any level of fidelity.

Gunner Module for Ground Vehicles

Current ground vehicle simulators for mounted weapons training use videoprojection screens and a fixed mount weapon mockup. Taken together thisresults in a limited field of view for the gunner; i.e., the gunner canonly look and shoot at scenes depicted on the projection screen.Typically these screens are limited to the forward direction only.

This approach also requires substantial space to implement, making itimpractical to use in standard trailers or portable shelters. Oneinstantiation of this approach was implemented by the U. S. Governmentat the Mounted Warfare Testbed at Fort Knox, Ky. Another instantiationof this approach was implemented by Lockheed Martin for the Government'sVirtual Combat Convoy Trainer program.

Hence there is a need for a mounted weapon training simulator modulethat has a relatively small physical footprint, yet provides realisticperspective, i.e., in all possible directions, for a trainee's view andaim.

BRIEF SUMMARY OF THE INVENTION

System Design

The Vehicle Crew Training System (VCTS) is a computer based simulationsystem intended to serve the virtual training needs of military users.However, unlike other simulation systems, the VCTS is modular at thecrew position level; crewman modules are added or deleted as required tomeet a particular training need. The VCTS provides virtual training forvehicle crew members. Virtual training refers to a mode of training inwhich the trainee is immersed in a simulated environment as aparticipating entity and in which results of all actions occur inreal-time based on cause and effect. This is also referred to asreal-time, man-in-the-loop simulation. Three modes of virtual trainingare supported: individual training, crew training, and collectivetraining with multiple vehicle crews. The VCTS is able to simulate crewpositions for different military vehicles and their associated weaponsystems. The VCTS comprises crewman modules networked together tosupport a partial or full vehicle crew. Moreover, not only is the VCTSmodular, but each crewman module is itself modular. The crewman modulesare self-contained devices that are modular in hardware and softwaredesign, and easily reconfigurable. In addition, the crewman modulesoccupy a minimal physical footprint.

One instantiation of the VCTS is a High Mobility Multipurpose WheeledVehicle (HMMWV) trainer developed by Raydon Corporation. This system canbe used for individual and crew gunnery as well as convoy training in asimulated geographical environment. In an embodiment of the invention,the simulated environment corresponds to an actual urban or ruralsetting. Future VCTS ground vehicle variants include but are not limitedto the Heavy Expanded Mobility Tactical Truck (HEMTT), the StandardCargo Truck, and the Five Ton Tactical Truck.

Another instantiation of the VCTS is a UH-60 Blackhawk helicoptertrainer developed by Raydon Corporation. This system can be used forindividual and crew gunnery as well as convoy support training in asimulated geographical environment. In an embodiment of the invention,the simulated environment corresponds to an actual urban or ruralsetting. Future VCTS air vehicle variants include but are not limited tothe CH-47 Chinook helicopter.

The VCTS consists of two or more crewman modules networked together. Atypical set of crewman modules comprising a VCTS includes a driver orpilot module, a gunner module, and a commander module. Via a network,other devices, such as an instructor station and a simulated radio, maybe integrated with the VCTS. Additional crewman modules may be added forother crew members such as an observer/riflemen. Vehicle Crew TrainingSystems may also be linked together to form groups of simulatedvehicles, such as platoons of three of four vehicles, where each vehicleis configured with two or more crewman modules. Two instructor stationsmay be included in these larger embodiments, to facilitate trainingsimultaneously with the conduct of after action reviews (AARs) ofpreviously conducted exercises. Additional instructor stations may beadded to facilitate individual and crew training.

Various embodiments of the invention, therefore, may or may notinterface with an instructor station. However, an instructor station canbe an important component of the overall training system. In embodimentswhere it is included, it initializes the different VCTS crewman modules,monitors the performance of the trainees, controls the operation of thesimulated enemy and friendly forces during the various trainingexercises, and records all exercise events. In addition, the instructorstation supports the conduct of after action reviews wherein previouslyconducted exercises are played back as an aid to the instructor'scritique of trainee performance. An instructor station can also act as asurrogate driver module in the absence of a regular driver module, or asa surrogate for any other missing crewmember module. If two instructorstations are included, then it is possible to perform the exercisecontrol and monitoring functions with the AAR function simultaneously.

The Vehicle Crew Training System is designed in a modular fashion suchthat it may be reconfigured to meet different training needs.Reconfiguration may involve adding, deleting, or changing the mix ofcrewman modules. Modularity also extends to the design of the crewmanmodules such that the weapon system and/or the vehicle type may berapidly changed. For example, a 0.50 caliber machine gun in use on theHMMWV variant of the Vehicle Crew Training System can be interchangedwith an MK-19 grenade launcher, a 7.62 mm machine gun, an M249 SquadAutomatic Weapon, or a Tube-launched Optically tracked Wire-guided (TOW)missile launcher, for example.

An embodiment of the invention can consist of four (4) simulated HMMWVvehicles, each represented by a VCTS with five (5) crewman modules. Two(2) instructor stations and simulated radios can be interfaced with suchan embodiment of the VCTS through a network. The system providesindividual, crew and collective training to platoons of HMMWV drivers,commanders, gunners and observer/riflemen.

Another embodiment of the VCTS is a HMMWV Training System developed forthe US Army National Guard (ARNG). This system can consist of five (5)simulated HMMWV vehicles, where four of the vehicles are represented byVCTS's consisting of two (2) crewman modules each and the fifth vehicle(external to the trailer containing the VCTS systems) is represented byan Appended HMMWV containing a driver and gunner position. Simulatedradios and an instructor station can also be interfaced to the VCTS. Thesystem provides individual, crew and collective training to platoons ofHMMWV drivers and gunners. The VCTS modules and the instructor stationof this embodiment fit in one fifty-three foot semi-trailer.

Another embodiment of the VCTS is a UH-60 Blackhawk helicopter trainingsystem developed for the US Army. This system can consist of two (2)simulated UH-60 helicopters, where each of the helicopters arerepresented by VCTS's consisting of three (3) crewman modules: a pilotmodule, a left door gunner module, and a right door gunner module.Simulated radios and an instructor station can also be interfaced to theVCTS. The system provides individual, crew and collective training toUH-60 door gunners. The VCTS modules and the instructor station of thisembodiment fit in one fifty-three foot semi-trailer.

The VCTS is designed to fit in a very constrained space, such as asemi-trailer or a portable shelter. The UH-60 trainer just describedfits in one fifty-three foot semi-trailer.

The ground vehicle variant of the gunner module embodies a uniqueapproach to weapon system training for simulated ground vehicles. Itprovides an unrestricted view of the simulated environment to the gunnerby means of a head mounted display (HMD) and a moveable, vehicle-mountedweapon mock-up. The HMD provides a complete spherical (360 degree) fieldof regard (FOR) to the gunner; as the gunner moves his head, theinstantaneous field of view (IFOV) changes in relation to the directionhis head is pointed. The weapon mock-up is cradle/pintle-mounted on a360 degree traverse ring to allow full 360 degree horizontal traverse aswell as the authentic amount of weapon pitch and yaw. External cablingis routed through a slip ring to allow unlimited rotations of thetraverse ring. In addition, weapon mock-ups and the weapon software maybe easily changed to simulate different vehicle-mounted weapons.Finally, the gunner module is very compact in size, allowing use inrestricted environments such as trailers and mobile shelters.

Crewman modules may be of varying fidelity. For example, a lowerfidelity desktop version of the gunner module may be used instead of thesimulated crew position version described above. Fidelity in thiscontext refers to the fidelity or realism of the man-machine interfaceas experienced by the trainee, i.e., the fidelity of the vehicle and/orweapon controls in terms of numbers of controls and the realism of thecontrols, the fidelity of visual imagery in terms of field of view,resolution, and scene content, and the fidelity of the physical crewposition in terms of the human support structure.

The VCTS architecture supports any mix of varying fidelity crewmanmodules. Since the lower fidelity desktop versions provide subsets ofthe capabilities embodied in the simulated crew position versions, alldiscussions of crewman module will refer to the higher fidelityvariants, unless specifically stated otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS/FIGURES

FIG. 1A is a diagram illustrating the minimum system configuration ofthe Vehicle Crew Training System (VCTS), according to an embodiment ofthe invention.

FIG. 1B is a diagram illustrating a typical full crew configuration ofthe VCTS, according to an embodiment of the invention.

FIG. 1C is a diagram illustrating multiple VCTS systems linked togetherto support collective training for High Mobility Multipurpose WheeledVehicle (HMMWV) crews, in accordance with the embodiments of FIGS. 1Aand 1B; this configuration is representative of a VCTS training systemdeveloped for the US Army National Guard.

FIG. 1D is an artist's drawing of the system diagrammed in FIG. 1C.

FIG. 1E is a diagram illustrating multiple VCTS systems linked togetherto support collective training for UH-60 aircraft crews, in accordancewith the embodiments of FIGS. 1A and 1B; this configuration isrepresentative of a VCTS training system developed for the US Army.

FIG. 1F is an artist's drawing of the system diagrammed in FIG. 1E.

FIG. 2A is a diagram showing the major components of a VCTS crewmanmodule, in accordance with the embodiment of FIG. 1.

FIG. 2B is a table identifying the types and components that comprise aVCTS crewman module, in accordance with the embodiment of FIG. 2A.

FIG. 3 is a diagram illustrating the componentized architecture of theVCTS software, in accordance with the embodiments of FIGS. 1 and 2.

FIG. 4A is a functional block diagram of the VCTS HMMWV gunner modulehardware in accordance with the embodiments of FIGS. 1, 2, and 3.

FIG. 4B is a functional block diagram of the VCTS UH-60 Door gunnermodule hardware in accordance with the embodiments of FIGS. 1, 2, and 3.

FIG. 4C is a functional software diagram of the VCTS gunner module inaccordance with the embodiments of FIGS. 1, 2 and 3.

FIG. 5A is a photograph of the VCTS HMMWV gunner module in accordancewith the embodiments of FIGS. 1, 2, 3, and 4A.

FIG. 5B is a photograph of the VCTS UH-60 Door gunner module inaccordance with the embodiments of FIGS. 1, 2, 3, 4, and 4B.

FIG. 6 is a photograph of a Tabletop gunner module in accordance withthe embodiments of FIGS. 1, 2, and 3.

DETAILED DESCRIPTION OF THE INVENTION

Embodiments of the invention are discussed in detail below. Indescribing embodiments, specific terminology is employed for the sake ofclarity. The invention is not intended to be limited to the specificterminology so-selected. While specific exemplary embodiments arediscussed, it should be understood that this is done for illustrationpurposes only. A person skilled in the relevant art will recognize thatother components and configurations can be used without departing fromthe spirit and scope of the invention.

FIGS. 1A, 1B, 1C, 1D, 1E and 1F illustrate various embodiments of a VCTSsystem in accordance with the present invention. The system is comprisedof at least two crewman modules 102 and 104 connected via a network 110,as illustrated in FIG. 1A. crewman modules may include a driver module,pilot module, ground vehicle gunner module, air vehicle door gunnermodule, commander module, and observer/rifleman module. Other crewmanmodule types can be supported as needs dictate. These other modulescould include, for example, alternate driver modules, crowd control/riotcontrol modules, and non-lethal weapon modules. An embodiment of thesystem that supports a four man crew is illustrated in FIG. 1B; thisconfiguration of the system includes a driver or pilot module 112, agunner module 114, a commander module 116, an observer/rifleman module118, and a network 110. An instructor station 120 is shown connected tothe VCTS 100; the instructor station 120 provides exercise control,monitoring and evaluation. An embodiment of the invention that supportscollective training for ground vehicles is illustrated in FIG. 1C; fourVCTS systems 130-160, each consisting of a driver module and a gunnermodule, and linked via a network 110, representing four vehicle crews.The four VCTS systems are linked via network 110 to an instructorstation 120 and to an appended trainer 180 which supports a fifthvehicle crew. An artist's sketch of this system is shown in FIG. 1D.Crewman modules that provide training with respect to ground vehiclesare referred to as ground vehicle crewman modules.

An embodiment of the invention that supports collective training for airvehicles is illustrated in FIG. 1E; two VCTS systems 135 and 145, eachconsisting of a pilot module and two door gunner modules, and linked viaa network 110, represent two vehicle crews. The two VCTS systems arelinked via the network 110 to an instructor station 120. An artist'ssketch of this system is shown in FIG. 1F. Crewman modules that providetraining with respect to air vehicles are referred to as air vehiclecrewman modules.

FIGS. 2A and 2B illustrate the components and characteristics of anembodiment of a VCTS crewman module 184. Crewman modules areself-contained training devices that contain the necessary hardware andsoftware to support virtual training for a single crewman. In anembodiment of the invention, a crewman module consists of a simulatedweapon system 186 or, in the case of a driver or pilot module, a vehiclecontrol or flying control system, respectively, plus a display system190, a sound system 192, a computational system 194, and a crewmanstation from which a trainee can access systems 186, 190, and 192. Asimulated weapon system 186 can consist of a weapon mock-up includingall necessary controls such as triggers and arm/safe switches, and theelectronics and cabling required to interface it with the computationalsystem 194. A simulated vehicle control system for a ground vehicleconsists of a steering wheel, transmission selector, brake andaccelerator pedals, and all other necessary controls, electronics andcabling required to drive the vehicle and to interface with thecomputational system 194. A flying control system would similarlycomprise simulated flight controls to control a virtual aircraft, e.g.,controls for throttle, rotor speed, pitch, navigation instruments, etc.Display system 190 consists of display devices, such as head mounteddisplays and/or LCD panels, and the necessary electronics and cablingrequired to interface it with the computational system 194. Sound system192 consists of amplified speakers and the necessary audio cabling tointerface it with the computational system 194. Weapon and vehiclesounds are broadcast to the trainee via the sound system 192. Thecomputational system 194 consists of a commercially available PC (or aprogrammable computing platform of comparable capability) augmented withstandard devices and ports to enable communication with other crewmanmodule hardware components, with other crewman modules, and withexternal systems such as instructor stations and other externalsimulated vehicles. Note that all programmable computing platforms thatcan be used in computational system 194 will be denoted genericallyhereinafter as PCs. The crewman station consists of the physicalstructure that contains and/or supports the trainee as well as all ofthe components that comprise a crewman module 184.

The computational system 194 contains the crewman module software. In anembodiment of the invention, the crewman module software consists of acommercially available operating system and application software. Themajor functions performed by the application software include simulatingvehicle movement, weapon aiming, firing, and impact effects, imagegeneration of visual scenes, interfacing with the various hardwarecomponents, and interfacing with other crewman modules and with externalsystems, such as other external simulated vehicles, via the network. Theapplication software in the driver module has the additional functionsof calculating collisions with other objects in the virtual world and ofterrain following by the driver's virtual vehicle.

FIG. 3 illustrates the VCTS application software architecture 300according to an embodiment of the invention. The software architecture300 can be an object oriented design comprised of components, which areencapsulated pieces of software with a defined functional purpose and adefined interface. The purpose of componentizing the applicationsoftware is to minimize rework and maximize reuse as new vehicles andnew weapons are incorporated into the VCTS design.

Software components may be categorized as either beingapplication-specific or reusable. If the latter, they are placed into alibrary of reusable components 320. In an embodiment of the invention,an application specific component 310 generally links to one or morereusable components 320 to perform a given function. A collection ofdrivers and application program interfaces (APIs) 330 may also beincluded with the application software to interface with the hardware340. This includes drivers for the video and data acquisition cardshoused in the PC as well as network, joystick and sound drivers and theAPI for the visual software. Underlying the components, drivers andAPI's is the real-time executive software 350 that provides theuniversal means for components, drivers and API's to communicate viamessages, events, and data reflection through its interface. Thereal-time executive software 350 can also be componentized.

FIG. 4A is a functional hardware diagram of an embodiment of the groundvehicle gunner module, FIG. 4B is a functional hardware diagram of anembodiment of the air vehicle gunner module and FIG. 4C is a functionalsoftware diagram that corresponds to both the ground and air variants ofthe gunner module. In FIG. 4A, the illustrated weapon system 186 iscomprised of the weapon mock-up 402, the traverse ring encoder 404,calibration switch 406, and interface electronics 408. The weaponmock-up 402, in one embodiment of the invention, is a simulated 0.50caliber machine gun. The position, pitch and yaw of the weapon mock-up402 are measured continuously, and fed back to the PC 407 via theinterface electronics 408. The calibration signal is fed back to the PC407 via the interface electronics 408 when the trainee pushes thecorresponding switch 406. The interface electronics 408 applies signalconditioning to the incoming signals and sends the data to the IO device410 in the PC 407.

In FIG. 4B, the illustrated weapon system 186 is comprised of the weaponmock-up 402, calibration switch 406, and interface electronics 408. Theweapon mock-up 402, in one embodiment of the invention, is a simulated7.62 mm machine gun. The position, pitch and yaw of the weapon mock-up402 are measured continuously, and fed back to the PC 407 a via theinterface electronics 408. The calibration signal is fed back to the PC407 a via the interface electronics 408 when the trainee pushes thecorresponding switch 406. The interface electronics 408 applies signalconditioning to the incoming signals and sends the data to the IO device410 in the PC 407 a. Note that in an embodiment of the invention, atraverse ring encoder may not be necessary. If, for example, weaponssystem 186 is meant to simulate a helicopter door gunner position, thena traverse ring may not be used. Moreover, in an embodiment of theinvention a second PC may be used, shown in FIG. 4B as visual PC 407 b.This PC would be used in conjunction with display system 190 and is incommunication with other components of the system. The use of a secondPC provides additional computing power and speed, particularly in thecontext of image processing.

Referring to FIG. 4C, weapon I/O software 431 in the PC 407 receives thedata 441 from the IO device 410 in the PC 407, formats it, and outputsthe formatted weapon data 442 to the weapon simulation software 432.Weapon data 442 is received continuously and includes weapon position,pitch, yaw and trigger pull. The calibration signal is sent only duringthe weapon calibration process. The weapon simulation software 432computes a trajectory for the bullets and outputs projectile positiondata 444 to the network software 434. The weapon simulation software 432receives own-vehicle state data 443 continuously from the networksoftware. This data is used to compute the position of the weapon in thevirtual world.

In the illustrated embodiments for both the ground and air vehicles, thedisplay system 190 is comprised of a head mounted display (HMD) with anattached head tracker (HT) receiver (collectively, reference 412), an HTtransmitter 416 mounted above the gunner position, and the HMD and HTinterface electronics (references 418 and 420, respectively). Inaddition, an LCD panel 422 is provided to serve as a video repeater forthe benefit of the instructor. In these embodiments of the invention, anacoustic, inertial and/or magnetic HT system senses the position andattitude of the HMD and continuously feeds the data to the PC 407 via anHMD/HT data interface (not shown). The HT data 446 is continuously inputto the visual I/O software 460 where it is formatted and then output(see 448) to the visual simulation software 465. The visual simulationsoftware 465 uses the HT data 446 to determine the position and lookangle of the head relative to the visual scene that is displayed to thetrainee wearing the HMD. In an embodiment of the invention, the visualsimulation software 465 also performs the following functions:

-   -   Rendering of the visual scene according to the HT supplied look        angle in data 448 and according to the own-vehicle state        information in data 449 received from the network software 434;    -   Full color, perspectively correct, anti-aliased and textured        image generation;    -   Imagery affected by atmospheric and weather effects;    -   Night vision simulation;    -   Rendering of other vehicles according to vehicle state        information in data 449 received from the network software 434;    -   Input of own-weapon projectile information in data 449 and        subsequent impact detection processing;    -   Weapon effect generation and rendering based on own-weapon        projectile impact detection;    -   Weapon effect generation and rendering based on weapon impact        information in data 449 received from the network software 434;    -   Output of own-vehicle weapon impact and collision data 450 to        the network software 434;    -   Collision detection of the own-vehicle with other objects in the        virtual world;    -   Terrain following by the own-vehicle; and    -   Output of video 447 to the visual I/O software 460.

The visual I/O software 460 formats the video and sends it to the videocard 424 in the PC 407; the video 445 is then output to the displaysystem 190 as standard VGA video. In other embodiments of the invention,other video data formats can be used.

In the illustrated embodiment, the network software 434 sends andreceives data 451 to and from the network 110. Data sent to the network110 includes projectile state data received from the weapon simulationsoftware 432, and weapon impact and collision data received from thevisual simulation software 465. Data received from the network 110includes own-vehicle state data plus the state of all other vehicles andprojectiles that are active in the virtual environment.

In both the ground and air embodiments of the invention, a sound system400 generates aural cues synchronized with and representative of actionsand events in the virtual environment. Sounds can be caused by, forexample, own vehicle and other vehicle movements, own weapon and otherweapon firing, weapon impacts and explosions caused by own weapons orother weapons, and could even include environmental “noise” such ascrowd noise.

The sound system 400 includes amplified speakers 426 that receive audio452 from the PC 407 via standard audio cables in an embodiment of theinvention. The sound I/O software 470 is a sound driver that receivesthe sound data 453 from the sound simulation software 475 and formats itfor use by the standard sound hardware in the PC 407. The soundsimulation software 475 creates sounds based on weapon and vehicle statedata 454 that is received from the network software 434. Sound filesrepresenting different battlefield sounds can be created off-line andthen stored in a sound file library; during real-time the soundsimulation software 475 accesses the appropriate sound files and weightsthem appropriately to create aural cues for the trainee.

In both the ground and air embodiments of the invention, thecomputational system 194 consists of, for example, a commerciallyavailable PC equipped with at least 2 GB of main memory and a Pentium 4CPU; Windows XP may be used as the operating system. In theseembodiments, the IO device 410 is a commercially available device thatsupports both analog and digital signals. The video card 424 may be acommercially available PCI graphics card in an embodiment of theinvention.

FIG. 5A is a photograph illustrating the overall mechanical design of anHMMWV gunner module 500 according to an embodiment of the invention. Thegunner module 500 is built on a gunner station 505, which can be a largealuminum box with a large circular hole cut in the top panel. A traversering 510 is fastened to the top of the box. The traverse ring 510consists of a pallet carousel modified for use with the gunner module500. The electronics assembly 515, the HMD/HT support structure 520 andthe weapon mock-up 525 are attached to the traverse ring 510 such thatthey move with the traverse ring 510 in response to trainee pressure.The slip ring support structure 530 is attached to the gunner station505, such that it remains fixed in space regardless of traverse ring510's rotation. The slip ring 535 and the video repeater 540 areattached to this support structure 530.

FIG. 5B is a photograph illustrating the overall mechanical design ofthe UH-60 gunner module 565 according to an embodiment of the invention.The UH-60 gunner module 565 is physically contained by the gunnerstation 570, which is a custom built enclosure designed to mimic thespace constraints that would be experienced by an actual UH-60 doorgunner. The opening in the side of the enclosure accurately reflects thesize and position of the opening in the actual aircraft. The gunnerstation 570 includes a seat and harness and space for an electronicsrack 555. As with the actual vehicle, the harness is designed such thatthe door gunner trainee can stand and lean out the opening in the sideof the gunner station 570. The head mounted display (HMD) 575 is worn bythe door gunner trainee, and the head tracker sensor 580 is mounted onthe top of the gunner station 570 along with a video repeater 550. Theweapon mock-up 560 is positioned either outside the vehicle on a standbolted to the floor of the semi-trailer or on an articulating armmounted to the base of the vehicle opening. The position, heft, feel,and recoil of the weapon mock-up 560 mimics an actual weapon used in theUH-60 aircraft.

FIG. 6 is a photograph of an embodiment of the lower fidelity desktopvariant of the ground vehicle gunner module. This version 600 of theground vehicle gunner module provides all of the functionality of thehigher fidelity gunner module described above. Differences include thoserelating to the fidelity of the device. For example:

-   -   The gunner simulates moving a traverse ring using foot pedals        610 and software that moves the weapon mock-up 620 around the        simulated ring; the imagery displayed to the gunner on the HMD        630 presents the view that the gunner would see if he moved the        traverse ring with his feet and back as he would on the higher        fidelity variant of the gunner module.    -   A lower fidelity HMD 630 is typically used with reduced        resolution and with angular tracking only; i.e., only the        direction that the gunner's head is pointed is sensed by a head        tracker.

While various embodiments of the present invention have been describedabove, it should be understood that they have been presented by way ofexample, and not limitation. It will be apparent to persons skilled inthe relevant art that various changes in form and detail may be madetherein without departing from the spirit and the scope of theinvention.

What is claimed is:
 1. A computer-based simulation system for trainingvehicle crew members for operation of a virtual vehicle, the simulationsystem comprising: a plurality of self-contained crewman modules of thevirtual vehicle, configured to be connected to one another by a network,wherein each module comprises: a self-contained physical structureconfigured to provide a position for only an individual crew member,dedicated to a simulation of a single distinct crew station of thevirtual vehicle, and configured to operate while geographicallyseparated from at least one other of the plurality of self-containedcrewman modules of the virtual vehicle; and a mechanical mockup withinthe self-contained physical structure, configured to dedicate the moduleto the simulation of the single distinct crew station, wherein theself-contained crewman modules are modular and reconfigurable inhardware and software design for simulation of different vehicle crewstations, the hardware modularity including modularity of the mechanicalmockup.
 2. The system of claim 1, wherein the self-contained crewmanmodules comprise at least one air vehicle crewman module and at leastone around vehicle crewman module.
 3. The system of claim 2, wherein theair vehicle crewman module comprises an opening permitting a trainee tolean out of the opening to interact with a virtual environment from avantage point outside of the virtual vehicle.
 4. The system of claim 1,wherein the plurality of self-contained crewman modules are connected bya network.
 5. The system of claim 1, wherein the plurality ofself-contained crewman modules represent a partial vehicle crew.
 6. Thesystem of claim 1, wherein the self-contained crewman module isconfigured to present a virtual environment to a trainee at one of aplurality of levels of fidelity, the plurality of levels of fidelityrepresenting varying amounts of functional realism of vehicle or weaponcontrols in the virtual vehicle.
 7. The system of claim 1, wherein thesimulation system supports virtual dismounting of a trainee from thevirtual vehicle, such that the trainee may virtually exit the virtualvehicle while maintaining the ability to interact with a virtualenvironment from the vantage point of a dismounted position.
 8. A methodof simulation training for vehicle crew members in a virtual vehicle,the method comprising: networking a plurality of self-contained crewmanmodules of the virtual vehicle; simulating a single distinct crewstation that provides a position for only an individual crew-member ofthe virtual vehicle within each of the plurality of self-containedcrewman modules while operating geographically separated from at leastone other self-contained crewman module of the virtual vehicle; andreconfigure, using modular hardware and software, to provide forsimulation of a different crew station, the hardware modularityincluding modularity of a mechanical mockup.
 9. The method of claim 8,wherein the reconfiguring is for simulation of a single distinct crewstation of a different vehicle.
 10. The method of claim 8, wherein thevirtual vehicle comprises a virtual air vehicle.
 11. The method of claim8, further comprising: virtual dismounting of a crew member in responseto the crew member exiting the module, such that the crew member mayvirtually exit the virtual vehicle while maintaining the ability tointeract with the virtual environment from the vantage point of adismounted position.
 12. The method of claim 8, further comprising:presenting the virtual environment to the crew member at one of aplurality of levels of fidelity, the plurality of levels of fidelityrepresenting varying amounts of functional realism of vehicle or weaponcontrols in the virtual vehicle.
 13. The method of claim 8, furthercomprising: providing a crew member, in response to the crew memberleaning out of an opening in a respective one of the modules, theability to interact with a virtual environment from a vantage pointoutside of the virtual vehicle.
 14. The method of claim 8, furthercomprising: virtually dismounting of a trainee from the virtual vehicle,such that the trainee may virtually exit the virtual vehicle whilemaintaining the ability to interact with a virtual environment from thevantage point of a dismounted position.